Angle-only filtering in 3D using modified spherical and log spherical coordinates

This paper considers the angle-only filtering problem in 3D using bearing and elevation angle measurements from a single maneuvering sensor. We develop continuous-discrete extended Kalman filter (EKF) based algorithms using modified spherical coordinates (MSC) and log spherical coordinates (LSC), wh...

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Bibliographic Details
Published in2011 International Conference on Information Fusion pp. 1 - 8
Main Authors Mallick, M., Mihaylova, L., Arulampalam, S., Yanjun Yan
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2011
Subjects
Acceleration
Accuracy
Angle-only filtering in 3D
Continuous-discrete filtering
Covariance matrix
Differential equations
Log spherical coordinates (LSC)
Mathematical model
Modified spherical coordinates (MSC)
Noise
Nonlinear stochastic differential equations
Three dimensional displays
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ISBN9781457702679
1457702673

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Summary:This paper considers the angle-only filtering problem in 3D using bearing and elevation angle measurements from a single maneuvering sensor. We develop continuous-discrete extended Kalman filter (EKF) based algorithms using modified spherical coordinates (MSC) and log spherical coordinates (LSC), where the dynamic and measurement models are described in continuous and discrete times, respectively. The predicted state estimate and covariance are calculated numerically by integrating a joint vector differential equation. Numerical results show that, while the discrete-time Cartesian EKF outperforms the proposed algorithms for highly accurate measurements, the new algorithms show superior performance as the measurement accuracy decreases. EKF-MSC and EKF-LSC have comparable performance for the examples examined.
ISBN:9781457702679
1457702673